Patents by Inventor Robert Holmberg
Robert Holmberg has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).
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Publication number: 20240149462Abstract: A variable payload robot is disclosed. In various embodiments, a robot includes two or more joints, each actuated by an associated joint motor and each joint motor having a different capacity, the robot comprising an end effector configured to grasp an object. A processor coupled to the robot is configured to determine based at least in part on the respective capacities of at least a subset of the joint motors and a payload related attribute of the object a plan and trajectory to move the object from a source location to a destination location.Type: ApplicationFiled: November 3, 2023Publication date: May 9, 2024Inventors: Robert Holmberg, Gil Matzliach, Samir Menon, Zhouwen Sun, Prabhat Kumar Sinha
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Publication number: 20240140731Abstract: Data indicating a corresponding safety state information indicating an extent to which that operating zone currently is or is not available to the robotic system to perform tasks using one or more robotic instrumentalities associated with a robotic system is used, for each of a plurality of operating zones, to dynamically schedule and perform tasks associated with a higher level objective. The corresponding safety state information associated with the first operating zone indicating one of a plurality of safety states associated with a presence of a human worker in the first operating zone is received from one or more sensors associated with a first operating zone of the plurality of operating zones. Autonomous behavior of the one or more robotic instrumentalities is altered based on the one of the plurality of safety states associated with the presence of the human worker in the first operating zone indicated by the corresponding safety state information.Type: ApplicationFiled: January 8, 2024Publication date: May 2, 2024Inventors: Zhouwen Sun, Cuthbert Sun, Andrew Nguyen, Samuel Tay, Emilie Peck, Kevin Jose Chavez, Robert Holmberg
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Publication number: 20240140712Abstract: A method and system for obtaining an identifier from an item is disclosed. The method includes autonomously operating a robotic structure having a robotic arm to pick an item using an end effector of the robotic arm along a predetermined path from a source location to a destination location according to a plan. The picked item is moved according to the plan. An active measure is determined to be performed at least in part to obtain an identifier determined to be missing based on information received via the communication interface from one or more sensors. The robotic structure is autonomously operated to place the item at the destination location based at least in part on the plan.Type: ApplicationFiled: January 8, 2024Publication date: May 2, 2024Inventors: Zhouwen Sun, Robert Holmberg, Shitij Kumar, Jeesu Baek, Joseph Li, Kishore Ranganath Ramakrishnan, Andrew Lovett, Cyril Nader, Farshid Farhat, David Leo Tondreau, III
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Publication number: 20240126038Abstract: A panel system includes a chassis holding one or more tray arrangements, which are each configured to receive one or more cassettes at two or more bays. The tray arrangements and cassettes cooperate to define a cassette sensor arrangement and a port occupancy sensor arrangement having separate interface points. The cassette sensor arrangement may include electronic memory storing physical layer information about the cassette. All active components of the port occupancy sensor arrangement are disposed on the tray while the electronic memories of the cassette sensor arrangement are stored on the cassettes.Type: ApplicationFiled: October 23, 2023Publication date: April 18, 2024Inventors: Ryan Edward ENGE, Paula LOCKHART, Scott Martin KEITH, David Jan Irma VAN BAELEN, Jacob C. ANDERSON, Steven Walter KNOERNSCHILD, Brian J. FITZPATRICK, Pedro MALDONADO, Gary Federico GIBBS, James J. SOLHEID, Matthew J. HOLMBERG, Matthew Robert KIENER
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Publication number: 20240109205Abstract: An end effector is disclosed. The end effector includes a first set of one or more suction cups of a first size having a first diameter, and a second set of one or more suction cups of a second size having a second diameter that is smaller than the first diameter. The end effector further includes a first actuation mechanism configured to apply suction to at least a subset of the first set of suction cups independently of actuation of the second set of suction cups and a second actuation mechanism configured to apply suction to at least a subset of the second set of suction cups independently of actuation of the first set of suction cups.Type: ApplicationFiled: October 10, 2023Publication date: April 4, 2024Inventors: Zhouwen Sun, Robert Holmberg, Shitij Kumar, Jeesu Baek, Joseph Li, Kishore Ranganath Ramakrishnan, Andrew Lovett
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Publication number: 20240075615Abstract: A robot having seven or more degrees of freedom is disclosed. In various embodiments, the robot includes a positioning robot having m degrees of freedom and a manipulator robot having n degrees of freedom coupled to the positioning robot. The robot is configured to be operated in a first mode of operation, in which the positioning robot is controlled to position move the manipulator robot into a position to perform a task and the manipulator robot is controlled independently of the positioning robot to perform the task; and in a second mode of operation, in which at least a subset of the m degrees of freedom of the positioning robot and at least a subset of the n degrees of freedom of the manipulator robot are controlled together, by a single controller, to perform the task.Type: ApplicationFiled: August 29, 2023Publication date: March 7, 2024Inventors: Avinash Verma, Robert Holmberg, Gil Matzliach, Luis Sentis, Salvador Perez, Samir Menon, Zhouwen Sun
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Publication number: 20240058960Abstract: A robot having seven or more degrees of freedom is disclosed. In various embodiments, the robot includes a positioning robot having m degrees of freedom and a manipulator robot having n degrees of freedom coupled to the positioning robot. The robot is configured to be operated in a first mode of operation, in which the positioning robot is controlled to position move the manipulator robot into a position to perform a task and the manipulator robot is controlled independently of the positioning robot to perform the task; and in a second mode of operation, in which at least a subset of the m degrees of freedom of the positioning robot and at least a subset of the n degrees of freedom of the manipulator robot are controlled together, by a single controller, to perform the task.Type: ApplicationFiled: August 11, 2023Publication date: February 22, 2024Inventors: Avinash Verma, Robert Holmberg, Gil Matzliach, Luis Sentis, Salvador Perez, Samir Menon, Zhouwen Sun
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Patent number: 11905115Abstract: A method and system for obtaining an identifier from an item is disclosed. The method includes autonomously operate a robotic structure to move an item along a predetermined path from a source location to a destination location, and autonomously operating the robotic structure to place the item at the destination location based at least in part on the plan. The item comprises one or more identifiers, and in response to a determination that at least one of the one or more identifiers was not obtained by one or more sensors, an active measure is performed to cause the one or more sensors to obtain the at least one identifier that was not obtained. The predetermined path corresponds to a path along which the item is moved from the source location to the destination location. The predetermined path is planned so that the item is moved within a threshold range of the one or more sensors while the item is moved along the predetermined path.Type: GrantFiled: April 30, 2021Date of Patent: February 20, 2024Assignee: Dexterity, Inc.Inventors: Zhouwen Sun, Robert Holmberg, Shitij Kumar, Jeesu Baek, Joseph Li, Kishore Ranganath Ramakrishnan, Andrew Lovett, Cyril Nader, Farshid Farhat, David Leo Tondreau, III
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Patent number: 11897706Abstract: A robotic line kitting system is disclosed. Data indicating for each of a plurality of operating zones comprising a workspace with which the robotic line kitting system is associated a corresponding safety state information is stored. The data is used to dynamically schedule and perform tasks associated with a higher level objective, including by operating the one or more robotic instrumentalities in one or more operating zones, if any, indicated by the data to currently be available to perform tasks using the one or more robotic instrumentalities and by not operating the one or more robotic instrumentalities in one or more operating zones, if any, indicated by the data to not currently be available to perform tasks using the one or more robotic instrumentalities.Type: GrantFiled: March 30, 2021Date of Patent: February 13, 2024Assignee: Dexterity, Inc.Inventors: Zhouwen Sun, Cuthbert Sun, Andrew Nguyen, Samuel Tay, Emilie Peck, Kevin Jose Chavez, Robert Holmberg
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Publication number: 20240042613Abstract: A robotic system to control multiple robots to perform a task cooperatively is disclosed. A first robot determines to perform a task cooperatively with a second robot, moves independently to a first grasp position to grasp an object associated with the task, receives an indication that the second robot is prepared to perform the task cooperatively, and moves the object independently of the second robot in a leader mode along a trajectory determined by the first robot. The second robot assists the first robot in performing the task cooperatively, at least in part by moving independently to a second grasp position, grasping the object, and cooperating with the first robot to move the object, at least in part by operating in a follower mode of operation to maintain engagement with the object as the first robot moves the object along the trajectory.Type: ApplicationFiled: August 16, 2023Publication date: February 8, 2024Inventors: Zhouwen Sun, Talbot Morris-Downing, Harry Zhe Su, Rohun Kulkarni, Kevin Jose Chavez, Samir Menon, Toby Leonard Baker, David Leo Tondreau, III, Robert Holmberg
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Publication number: 20240017424Abstract: A pull force based robotic end effector with an integrated mechanical stop is disclosed. In various embodiments, the end effector includes an end effector body having a top side and an operative side opposite the top side; a pull force gripper disposed on the operative side of the end effector body; and an integrated mechanical stop positioned on the operative side of the end effector body adjacent to the suction gripper, the mechanical stop extending from the operative side to an extent that allows the suction gripper to be operatively engaged with an object to be grasped.Type: ApplicationFiled: July 14, 2023Publication date: January 18, 2024Inventors: Kunal Vikas Shinde, Robert Moreno, Salvador Perez, Andrew Lovett, Robert Holmberg
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Publication number: 20240017940Abstract: A robotic end effector is disclosed. The robotic end effector includes (a) an end effector body having a top side and an operative side opposite the top side, (b) a pull force gripper disposed on the operative side of the end effector body, and (c) a first end effector support structure that is connected to the end effector body and extends from the end effector body in a direction that is orthogonal to the operative side of the end effector body.Type: ApplicationFiled: July 14, 2023Publication date: January 18, 2024Inventors: Andrew Lovett, Samir Menon, Robert Holmberg, Jeesu Baek, Andrew Bylard
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Publication number: 20240002163Abstract: A robotic system is disclosed comprising a communication interface and a processor coupled to the communication interface and configured to: receive via the communication interface an indication to establish a conveyance path to convey one or more items from a source location at an originating end of the conveyance path to a destination location at a terminating end of the conveyance path; determine programmatically a plan to arrange and configured one or more conveyance structures to provide the conveyance path; and invoke one or more robots to position, couple as needed, and configure as needed the one or more conveyance structures to provide the conveyance path.Type: ApplicationFiled: June 27, 2023Publication date: January 4, 2024Inventors: Samir Menon, Zhouwen Sun, Robert Holmberg, Michael Fisher, David Turney
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Patent number: 11833669Abstract: An end effector is disclosed. The end effector includes a first set of one or more suction cups of a first size having a first diameter, and a second set of one or more suction cups of a second size having a second diameter that is smaller than the first diameter. The end effector further includes a first actuation mechanism configured to apply suction to at least a subset of the first set of suction cups independently of actuation of the second set of suction cups and a second actuation mechanism configured to apply suction to at least a subset of the second set of suction cups independently of actuation of the first set of suction cups.Type: GrantFiled: March 31, 2021Date of Patent: December 5, 2023Assignee: Dexterity, Inc.Inventors: Zhouwen Sun, Robert Holmberg, Shitij Kumar, Jeesu Baek, Joseph Li, Kishore Ranganath Ramakrishnan, Andrew Lovett
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Patent number: 11772269Abstract: A robotic system to control multiple robots to perform a task cooperatively is disclosed. A first robot determines to perform a task cooperatively with a second robot, moves independently to a first grasp position to grasp an object associated with the task, receives an indication that the second robot is prepared to perform the task cooperatively, and moves the object independently of the second robot in a leader mode along a trajectory determined by the first robot. The second robot assists the first robot in performing the task cooperatively, at least in part by moving independently to a second grasp position, grasping the object, and cooperating with the first robot to move the object, at least in part by operating in a follower mode of operation to maintain engagement with the object as the first robot moves the object along the trajectory.Type: GrantFiled: November 1, 2022Date of Patent: October 3, 2023Assignee: Dexterity, Inc.Inventors: Zhouwen Sun, Talbot Morris-Downing, Harry Zhe Su, Rohun Kulkarni, Kevin Jose Chavez, Samir Menon, Toby Leonard Baker, David Leo Tondreau, III, Robert Holmberg
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Publication number: 20230271797Abstract: A robotic system comprising a mobile chassis, a conveyor oriented substantially parallel to a longitudinal axis of the chassis, one or more robotic arms disposed adjacent to the conveyor, and one or more cameras positioned to view at least a portion of a top surface of the conveyor is disclosed. The system uses the mobile chassis, the conveyor, and the robotic arms to load items into a truck or other container, including by using image data generated by the one or more cameras to assess a state of items on the top surface of the conveyor; determine based at least in part on the image data that an additional item is to be added to the top surface of the conveyor; and operate a robotically controlled structure to cause an item to be added to the top surface of the conveyor.Type: ApplicationFiled: February 14, 2023Publication date: August 31, 2023Inventors: Zhouwen Sun, Michael Fisher, Robert Holmberg, Harry Zhe Su, Talbot Morris-Downing, Timothy Ryan, Samir Menon
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Publication number: 20230271323Abstract: A robotic system is disclosed which includes a robotic arm having n degrees of freedom, the robotic arm comprising a base and a set of serially connected links and joints connected to the base; an enabler joint assembly comprising a mounting location at which the base of the robotic arm is mounted and having a rotational axis, offset from the mounting location, about which the enabler joint assembly is configured to rotate the mounting location; and a processor configured to control a first set of motors associated with the n degrees of freedom of the robotic arm and an enabler joint motor comprising the enabler joint assembly to control operation of the robotic arm within an extended operating space defined at least in part by the n degrees of freedom of the robotic arm and an (n+1)th degree of freedom provided by the enabler joint assembly.Type: ApplicationFiled: February 14, 2023Publication date: August 31, 2023Inventors: Zhouwen Sun, Michael Fisher, Robert Holmberg, Harry Zhe Su, Talbot Morris-Downing, Timothy Ryan, Samir Menon
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Publication number: 20230158676Abstract: A robotic system is disclosed to control multiple robots to cooperatively pick and place objects. In various embodiments, the robotic system includes a first robotic arm having a first end effector; a second robotic arm having a second end effector; and a control computer configured to use the first robotic arm and the second robotic arm to pick and place a plurality of objects, including by using the first robotic arm and the second robotic arm to work cooperatively to pick and place one or more of the objects.Type: ApplicationFiled: November 1, 2022Publication date: May 25, 2023Inventors: Zhouwen Sun, Rohun Kulkarni, Talbot Morris-Downing, Harry Zhe Su, Samir Menon, Kevin Jose Chavez, Robert Holmberg, Alberto Leyva Arvayo, Toby Leonard Baker
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Publication number: 20230150137Abstract: A robotic system is disclosed to control multiple robots to cooperatively load/unload a truck or other container. In various embodiments, image data is received and used to control a first robotic arm and a second robotic arm to load or unload objects into or from the truck or other container, including by loading or unloading one or more of the objects using the first robotic arm and the second robotic arm together to cooperatively to grasp and move each of one or more of the objects along a corresponding trajectory.Type: ApplicationFiled: November 1, 2022Publication date: May 18, 2023Inventors: Zhouwen Sun, Robert Holmberg, Talbot Morris-Downing, Harry Zhe Su, Toby Leonard Baker, Alberto Leyva Arvayo, Salvador Perez, Samir Menon
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Publication number: 20230134924Abstract: A robotic system to control multiple robots to perform a task cooperatively is disclosed. A first robot determines to perform a task cooperatively with a second robot, moves independently to a first grasp position to grasp an object associated with the task, receives an indication that the second robot is prepared to perform the task cooperatively, and moves the object independently of the second robot in a leader mode along a trajectory determined by the first robot. The second robot assists the first robot in performing the task cooperatively, at least in part by moving independently to a second grasp position, grasping the object, and cooperating with the first robot to move the object, at least in part by operating in a follower mode of operation to maintain engagement with the object as the first robot moves the object along the trajectory.Type: ApplicationFiled: November 1, 2022Publication date: May 4, 2023Inventors: Zhouwen Sun, Talbot Morris-Downing, Harry Zhe Su, Rohun Kulkarni, Kevin Jose Chavez, Samir Menon, Toby Leonard Baker, David Leo Tondreau, III, Robert Holmberg